CN102982550A - Method of solving intrinsic parameters of camera with regular pentagonal prismatic table - Google Patents

Method of solving intrinsic parameters of camera with regular pentagonal prismatic table Download PDF

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CN102982550A
CN102982550A CN2012105420062A CN201210542006A CN102982550A CN 102982550 A CN102982550 A CN 102982550A CN 2012105420062 A CN2012105420062 A CN 2012105420062A CN 201210542006 A CN201210542006 A CN 201210542006A CN 102982550 A CN102982550 A CN 102982550A
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CN102982550B (en
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赵越
徐丽敏
邵德坡
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Yunnan University YNU
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Yunnan University YNU
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Abstract

The invention discloses a target used for self-calibrating of a camera and consisting of a regular prismatic table with regular pentagonal bottom surfaces. A method comprises the particular steps as follows: characteristic points on the upper bottom surface and the two side faces of the regular positive pentagonal prismatic table are extracted from an image; coordinates of vanishing points on a plane of the image are solved according to attributes that an intersection point of two parallel straight lines is an infinite point, and a simulacrum of the infinite point is the vanishing point, and according to the attribute of a cross ratio of four collinear points; intrinsic parameters of the camera are solved linearly according to constraint of the orthogonal vanishing points on an absolute conic; two images of the target are shot in different directions; the coordinates of the characteristic points on the images are extracted; the orthogonal vanishing points on the upper bottom surface and the two side faces of the regular positive pentagonal prismatic table are calculated; constraint equations of the orthogonal vanishing points relevant to the intrinsic parameters of the camera are established; and matrixes of the intrinsic parameters of the camera are solved linearly. With the adoption of the target, full automatic calibration can be realized, and errors due to measuring in a calibrating process are reduced. The vanishing points are more concise and global elements, and the accuracy is improved in the calibrating process.

Description

Utilize positive five terrace with edges to solve camera intrinsic parameter
Technical field
The invention belongs to the computer research field, relating to a kind of is the positive terrace with edge target of regular pentagon for a base that solves camera intrinsic parameter, utilize on plane any one positive five terrace with edge as calibrating template, by solving the hidden coordinate disappeared a little of quadrature on two width images, the linear intrinsic parameter of determining video camera.
Background technology
One of basic task of computer vision, the two-dimensional image information obtained from video camera exactly recovers the geological information of object three dimensions, thus the geometric configuration of object in identification and reconstruction of three-dimensional space.Must determine the three-dimensional geometry position of space object point and the mutual relationship between the corresponding point in its image in this process, and this relation is by the geometric model decision of video camera imaging, the parameter of these geometric models is exactly camera parameters.Under most of conditions, these parameters all obtain by experiment, Here it is camera calibration.It generally is divided into tradition and demarcates and two kinds of methods of self-calibration, which kind of scaling method no matter, demarcating object is all to adopt some special geometric models, for example: plane square, triangle, circle, space cube and cylinder etc., how to set up especially certain linear relation of relation between these geometric models and camera parameters, being the target that current camera calibration is pursued, is also one of focus of current computer vision field research.
Although traditional camera marking method can obtain higher precision, but calibrating block is made difficulty, be not easy to operation, for this problem document " A flexible new technique for camera calibration ", (Zhengyou Zhang, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 22, no. 11, pp. 1330-1334, 2000.) proposed to replace with plane template the method for traditional calibrating block, this method is simple and convenient, cost is low, and can obtain higher precision, but the physical coordinates that needs dot matrix on accurate locating template, because hidden disappearing is a little a kind of more succinct more primitive of globalize, thereby can further improve the stability of method, so be widely used with a hidden solution problem of calibrating that disappears, document " Criminisi A, Reid I. and A. Zisserman. Single View Metrology, International Journal of Computer Vision, 2000, 40 (2), pp. 123-148. " utilize the hidden attribute disappeared a little, calculate the intrinsic parameter of video camera from single projected image, the method a little is dissolved into hidden the disappearing in projective geometry in camera calibration first, disappear so hidden and put into the theoretical foundation of camera self-calibration method.
Hidden disappearing is a little a special point on the picture plane, and all parallel lines on plane on certain direction all meet at an infinity point, and infinity point is called hidden disappearing a little in the projection as on plane.Document (king's year, Fan Yizheng, Liang Dong, Wei Sui, " a kind of camera self-calibration method based on isosceles trapezoid ", Southeast China University's journal (natural science edition), vol. 35, no.2, pp. 195-198, 2005.) according to the character of isosceles trapezoid and hidden the disappearing a little in the cross ratio invariability computed image, document (Hu Peicheng, Li Ning, Zhao Liangliang, " a kind of new camera marking method based on end point ", the 13 national image graphics learned academic conference, pp. 1-5, 2006.) utilize the method for a hidden calibrating camera that disappears, according to the intersection point of two parallel lines, are infinity points, the intersection point of the picture of two parallel lines of direct solution completes demarcation.
Summary of the invention
The invention provides a kind of making simple, widely applicable, good stability for solving the target of camera intrinsic parameter.This target be a base be the positive terrace with edge of regular pentagon, in solving the process of camera intrinsic parameter, only need video camera to take from different azimuth 5 intrinsic parameters that 2 width images just can linear solution go out video camera.
The present invention adopts following technical scheme:
The target for camera self-calibration that the positive terrace with edge that the present invention is is regular pentagon by base forms.Concrete step comprises: from image, extract the upper bottom surface of positive five terrace with edges and the unique point on two sides, according to the intersection point of two parallel lines, are infinity points, and the picture of infinity point is called hidden disappearing a little, and the character of 4 double ratios of conllinear, draw the hidden point coordinate that disappears on the plane of delineation, according to quadrature on two width images is hidden, disappear a little to the constraint of absolute conic, the intrinsic parameter of linear solution video camera.
1. the unique point in the extraction image
In Matlab software, utilize the Harris Corner Detection to extract the coordinate of each plane of delineation unique point.
2. ask the hidden coordinate disappeared a little
(1) calculating positive five the hidden of terrace with edge upper bottom surface disappears a little
On a plane of world coordinate system, there are positive five terrace with edges (as Fig. 1), the upper and lower bottom surface of positive five terrace with edges is regular pentagons (as Fig. 2), the angle point of its upper bottom surface is
Figure 2012105420062100002DEST_PATH_IMAGE001
, the part angle point of bottom surface is ,
Figure 2012105420062100002DEST_PATH_IMAGE003
It is the center of circle of pentagon incircle.
Figure 2012105420062100002DEST_PATH_IMAGE004
It is line segment
Figure 2012105420062100002DEST_PATH_IMAGE005
Mid point,
Figure 2012105420062100002DEST_PATH_IMAGE006
Perpendicular to
Figure 169790DEST_PATH_IMAGE005
,
Figure 804165DEST_PATH_IMAGE006
Infinity point on direction is made as
Figure 2012105420062100002DEST_PATH_IMAGE007
Figure 543450DEST_PATH_IMAGE005
Infinity point on direction is made as
Figure 2012105420062100002DEST_PATH_IMAGE008
.
Figure 43702DEST_PATH_IMAGE007
With Quadrature.The projection of upper bottom surface as shown in Figure 3,
Figure 2012105420062100002DEST_PATH_IMAGE009
Be respectively
Figure 2012105420062100002DEST_PATH_IMAGE010
Picture,
Figure 2012105420062100002DEST_PATH_IMAGE011
Be respectively
Figure 310790DEST_PATH_IMAGE007
,
Figure 706130DEST_PATH_IMAGE008
Picture, according to the character of 4 double ratios of conllinear, have:
Figure 2012105420062100002DEST_PATH_IMAGE012
,
Figure 2012105420062100002DEST_PATH_IMAGE013
, the projective invariance according to corresponding point in projective transformation has:
Figure 2012105420062100002DEST_PATH_IMAGE014
,
Figure 2012105420062100002DEST_PATH_IMAGE015
.Thereby can in the hope of
Figure 2012105420062100002DEST_PATH_IMAGE016
Coordinate.
(2) calculating positive five the hidden of terrace with edge side disappears a little
In a width picture of positive five terrace with edges, we at least can see its two isosceles trapezoids that side is two congruences, as shown in Figure 4,
Figure 2012105420062100002DEST_PATH_IMAGE017
Be parallel to
Figure 2012105420062100002DEST_PATH_IMAGE018
,
Figure 2012105420062100002DEST_PATH_IMAGE019
Be respectively With
Figure 373446DEST_PATH_IMAGE018
Mid point, and connect
Figure 2012105420062100002DEST_PATH_IMAGE020
,
Figure 2012105420062100002DEST_PATH_IMAGE021
Be
Figure 2012105420062100002DEST_PATH_IMAGE022
Mid point, establish
Figure 808844DEST_PATH_IMAGE017
,
Figure 624353DEST_PATH_IMAGE018
On infinity point be
Figure 2012105420062100002DEST_PATH_IMAGE023
, Infinity point on direction is
Figure 2012105420062100002DEST_PATH_IMAGE024
, as Fig. 5,
Figure 2012105420062100002DEST_PATH_IMAGE025
Be respectively
Figure 2012105420062100002DEST_PATH_IMAGE026
Picture,
Figure 2012105420062100002DEST_PATH_IMAGE027
It is infinity point
Figure 736983DEST_PATH_IMAGE023
Picture point, that is:
Figure 701921DEST_PATH_IMAGE017
,
Figure 422752DEST_PATH_IMAGE018
Hidden disappearing a little on direction,
Figure 2012105420062100002DEST_PATH_IMAGE028
It is infinity point
Figure 384892DEST_PATH_IMAGE024
Picture point, that is:
Figure 232893DEST_PATH_IMAGE022
Hidden disappearing a little on direction.Because
Figure 862458DEST_PATH_IMAGE023
Be
Figure 488611DEST_PATH_IMAGE017
With
Figure 656156DEST_PATH_IMAGE018
Intersection point, so , the projective invariance according to corresponding point in projective transformation has:
Figure 2012105420062100002DEST_PATH_IMAGE030
, according to harmonic conjugates theory in projective geometry:
Figure 2012105420062100002DEST_PATH_IMAGE031
, according to the cross ratio invariability in projective transformation,
Figure 2012105420062100002DEST_PATH_IMAGE032
Thereby, solve Coordinate.In another isosceles trapezoid
Figure 2012105420062100002DEST_PATH_IMAGE033
In also exist one group of hidden disappearing a little of quadrature, be designated as
Figure 2012105420062100002DEST_PATH_IMAGE034
, , computing formula is
Figure 2012105420062100002DEST_PATH_IMAGE036
,
Figure 2012105420062100002DEST_PATH_IMAGE037
.
3. solve camera intrinsic parameter
Utilization required hidden disappearing of six groups of quadratures in two width images a little can be listed six equations to the constraint of absolute conic, and linear solution goes out 5 intrinsic parameters, i.e. matrixes of video camera
Figure 2012105420062100002DEST_PATH_IMAGE038
,
Figure 2012105420062100002DEST_PATH_IMAGE039
For the distortion factor of image,
Figure 2012105420062100002DEST_PATH_IMAGE040
In image coordinate system Axle
Figure 2012105420062100002DEST_PATH_IMAGE042
The scale factor of axle,
Figure 2012105420062100002DEST_PATH_IMAGE043
Being the principal point coordinate, is 5 intrinsic parameters of video camera.
Advantage of the present invention:
(1) this target is made simply, and a positive pentagonal pyramid is parallel to the bottom surface cutting, just can draw positive five terrace with edges.
(2) but only need with video camera from different azimuth take two width images just linear solution go out 5 intrinsic parameters of video camera.
(3) method easily is transplanted on the positive terrace with edge that base is the odd number regular polygon.
The accompanying drawing explanation
Fig. 1 is for solving the target structural representation of camera intrinsic parameter.
Fig. 2 is target upper bottom surface structural representation.
Fig. 3 is the hidden resolution principle figure that disappears in the plane of target end face.
Fig. 4 is target side structure schematic diagram.
Fig. 5 is the hidden resolution principle figure disappeared a little in target side.
Embodiment
A kind of for solving the target of camera intrinsic parameter, it is that a base in space is that the positive terrace with edge of regular pentagon forms, as Fig. 1.Completing solving of camera intrinsic parameter with this modulation needs through following steps: the experiment pattern that the hidden camera marking method disappeared a little of quadrature adopts is positive five terrace with edges arbitrarily in space, as shown in Figure 1.Its upper bottom surface is a regular pentagon, and side is the isosceles trapezoid of five congruences, utilizes the method in the present invention to be demarcated the video camera for experiment, and concrete steps are as follows:
1. the unique point in the fitted figure picture
In Matlab software, utilize the Harris corner detection approach to extract the coordinate of image characteristic point.
2. calculate hidden disappearing a little
(1) calculating five the hidden of terrace with edge upper bottom surface disappears a little
On a plane of world coordinate system, there are positive five terrace with edges (as Fig. 1), the upper and lower bottom surface of positive five terrace with edges is regular pentagons (as Fig. 2), the angle point of its upper bottom surface is
Figure 106434DEST_PATH_IMAGE001
, the part angle point of bottom surface is
Figure 434647DEST_PATH_IMAGE002
,
Figure 823909DEST_PATH_IMAGE003
It is the center of circle of pentagon incircle.
Figure 262980DEST_PATH_IMAGE004
It is line segment
Figure 804820DEST_PATH_IMAGE005
Mid point,
Figure 303935DEST_PATH_IMAGE006
Perpendicular to
Figure 665646DEST_PATH_IMAGE005
, Infinity point on direction is made as
Figure 55487DEST_PATH_IMAGE007
Infinity point on direction is made as
Figure 574510DEST_PATH_IMAGE008
.
Figure 595863DEST_PATH_IMAGE007
With
Figure 112295DEST_PATH_IMAGE008
Quadrature.The projection of upper bottom surface as shown in Figure 3,
Figure 687633DEST_PATH_IMAGE009
Be respectively
Figure 289515DEST_PATH_IMAGE010
Picture,
Figure 874080DEST_PATH_IMAGE011
Be respectively
Figure 995751DEST_PATH_IMAGE007
,
Figure 741990DEST_PATH_IMAGE008
Picture, according to the character of 4 double ratios of conllinear, have: ,
Figure 953846DEST_PATH_IMAGE013
, according to the corresponding projective invariance that should put in projective transformation, have
Figure 428559DEST_PATH_IMAGE014
,
Figure 611278DEST_PATH_IMAGE015
Thereby, try to achieve
Figure 187753DEST_PATH_IMAGE016
Coordinate.
(2) calculate hidden the disappearing a little on positive five terrace with edge sides
In a width picture of positive five terrace with edges, at least can see its two isosceles trapezoids that side is two congruences, as shown in Figure 4,
Figure 114121DEST_PATH_IMAGE017
Be parallel to
Figure 928493DEST_PATH_IMAGE018
,
Figure 298426DEST_PATH_IMAGE019
Be respectively
Figure 96617DEST_PATH_IMAGE017
With
Figure 826676DEST_PATH_IMAGE018
Mid point, and connect
Figure 761134DEST_PATH_IMAGE019
,
Figure 803433DEST_PATH_IMAGE021
Be
Figure 823341DEST_PATH_IMAGE022
Mid point, establish
Figure 91511DEST_PATH_IMAGE017
,
Figure 146055DEST_PATH_IMAGE018
On infinity point be ,
Figure 99416DEST_PATH_IMAGE022
Infinity point on direction is
Figure 905698DEST_PATH_IMAGE024
, as Fig. 5,
Figure 80327DEST_PATH_IMAGE025
Be respectively
Figure 946652DEST_PATH_IMAGE026
Picture, It is infinity point Picture point, that is:
Figure 829529DEST_PATH_IMAGE017
, Hidden disappearing a little on direction,
Figure 348552DEST_PATH_IMAGE028
It is infinity point
Figure 512949DEST_PATH_IMAGE024
Picture point, that is:
Figure 396591DEST_PATH_IMAGE022
Hidden disappearing a little on direction.Because
Figure 604718DEST_PATH_IMAGE023
Be
Figure 573811DEST_PATH_IMAGE017
With
Figure 260008DEST_PATH_IMAGE018
Intersection point, so
Figure 515933DEST_PATH_IMAGE029
, the correspondence according to respective point in projective transformation has:
Figure 894962DEST_PATH_IMAGE030
, according to harmonic conjugates theory in projective geometry:
Figure 148089DEST_PATH_IMAGE031
, according to the cross ratio invariability in projective transformation,
Figure 388708DEST_PATH_IMAGE032
Thereby, solve
Figure 246943DEST_PATH_IMAGE028
Coordinate.In like manner, in another isosceles trapezoid
Figure 62452DEST_PATH_IMAGE033
In also can find one group of hidden disappearing a little of quadrature, be designated as
Figure 6137DEST_PATH_IMAGE034
,
Figure 34136DEST_PATH_IMAGE035
.Computing formula is
Figure 996145DEST_PATH_IMAGE036
, Obtain
Figure 413537DEST_PATH_IMAGE034
,
Figure 510806DEST_PATH_IMAGE035
.
3. solve camera intrinsic parameter
Obtain two width images, utilize that quadrature is hidden to disappear a little to the constraint of absolute conic, linear solution goes out 5 intrinsic parameters, i.e. matrixes of video camera
Figure 359944DEST_PATH_IMAGE038
,
Figure 517256DEST_PATH_IMAGE039
For the distortion factor of image,
Figure 435533DEST_PATH_IMAGE040
In image coordinate system
Figure 323111DEST_PATH_IMAGE041
,
Figure 620232DEST_PATH_IMAGE042
The scale factor of axle,
Figure 948445DEST_PATH_IMAGE043
It is the principal point coordinate.
Embodiment
The present invention proposes and utilize the positive terrace with edge that on plane, any one base is regular pentagon to determine the intrinsic parameter of video camera as the target linearity, the experiment module that the present invention adopts is positive five terrace with edges, structural representation as shown in Figure 1, is below made more detailed description with an example to embodiment of the present invention.
The experiment pattern that utilizes positive five terrace with edges to solve the camera intrinsic parameter employing is any one positive five terrace with edge on plane, as shown in Figure 1, utilizes the method in the present invention to be demarcated the video camera for experiment, and concrete steps are as follows:
(1) unique point in the fitted figure picture
The image resolution ratio that the present invention adopts is 640 * 480 pixels, with video camera, takes from different directions several experiment pictures, chooses two width picture comparatively clearly, reads in image and in Matlab, utilizes the Harris Corner Detection to extract the coordinate of image characteristic point.
Unique point on the first width image is as follows,
Figure 2012105420062100002DEST_PATH_IMAGE044
For
Figure 2012105420062100002DEST_PATH_IMAGE045
Figure 2012105420062100002DEST_PATH_IMAGE046
Picture:
Figure 2012105420062100002DEST_PATH_IMAGE047
Unique point on the second sub-picture is as follows,
Figure 2012105420062100002DEST_PATH_IMAGE048
For
Figure 727920DEST_PATH_IMAGE045
Figure 183303DEST_PATH_IMAGE046
Picture:
Figure 2012105420062100002DEST_PATH_IMAGE049
Figure 2012105420062100002DEST_PATH_IMAGE051
Figure 2012105420062100002DEST_PATH_IMAGE052
(2) calculate hidden the disappearing a little of positive five terrace with edge upper bottom surface images
On a plane of world coordinate system, there are positive five terrace with edges (as Fig. 1), the upper and lower bottom surface of positive five terrace with edges is regular pentagons (as Fig. 2), the angle point of its upper bottom surface is
Figure 582534DEST_PATH_IMAGE001
, the part angle point of bottom surface is
Figure 81648DEST_PATH_IMAGE002
, It is the center of circle of pentagon incircle.
Figure 686122DEST_PATH_IMAGE004
It is line segment
Figure 833201DEST_PATH_IMAGE005
Mid point,
Figure 503217DEST_PATH_IMAGE006
Perpendicular to
Figure 617803DEST_PATH_IMAGE005
,
Figure 398677DEST_PATH_IMAGE006
Infinity point on direction is made as
Figure 164377DEST_PATH_IMAGE007
Figure 739715DEST_PATH_IMAGE005
Infinity point on direction is made as
Figure 341597DEST_PATH_IMAGE008
.
Figure 926162DEST_PATH_IMAGE007
With
Figure 297101DEST_PATH_IMAGE008
Quadrature.The projection of upper bottom surface as shown in Figure 3,
Figure 794073DEST_PATH_IMAGE009
Be respectively
Figure 617672DEST_PATH_IMAGE010
Picture,
Figure 2012105420062100002DEST_PATH_IMAGE053
Be respectively ,
Figure 496952DEST_PATH_IMAGE008
, picture, according to the character of 4 double ratios of conllinear, have:
Figure 931869DEST_PATH_IMAGE012
,
Figure 508344DEST_PATH_IMAGE013
, the projective invariance according to corresponding point in projective transformation has:
Figure 434712DEST_PATH_IMAGE014
,
Figure 514663DEST_PATH_IMAGE015
.Thereby can in the hope of
Figure 619017DEST_PATH_IMAGE011
Coordinate.One group of hidden disappearing of quadrature of the second sub-picture upper bottom surface a little is designated as:
Figure 2012105420062100002DEST_PATH_IMAGE054
.Computing formula is ,
Figure 2012105420062100002DEST_PATH_IMAGE056
, can obtain
Figure 259951DEST_PATH_IMAGE054
.
Can calculate two the hidden of width image upper bottom surface by above method and disappear a little, result of calculation is as follows respectively:
The first width image, hidden the disappearing a little of one group of quadrature in upper bottom surface:
Figure 2012105420062100002DEST_PATH_IMAGE057
Figure 2012105420062100002DEST_PATH_IMAGE058
；
The second width image, hidden the disappearing a little of one group of quadrature of upper bottom surface:
Figure 2012105420062100002DEST_PATH_IMAGE059
Figure 2012105420062100002DEST_PATH_IMAGE060
。
(3) calculating positive five the hidden of terrace with edge side image disappears a little
In a width picture of positive five terrace with edges, at least can see its two isosceles trapezoids that side is two congruences, as shown in Figure 4, Be parallel to
Figure 268676DEST_PATH_IMAGE018
,
Figure 58777DEST_PATH_IMAGE019
Be respectively
Figure 78686DEST_PATH_IMAGE017
With
Figure 864632DEST_PATH_IMAGE018
Mid point, and connect
Figure 919176DEST_PATH_IMAGE019
, Be
Figure 121804DEST_PATH_IMAGE022
Mid point, establish
Figure 193666DEST_PATH_IMAGE017
,
Figure 853448DEST_PATH_IMAGE018
On infinity point be
Figure 719773DEST_PATH_IMAGE023
,
Figure 714274DEST_PATH_IMAGE022
Infinity point on direction is
Figure 589826DEST_PATH_IMAGE024
, as Fig. 5,
Figure 353383DEST_PATH_IMAGE025
Be respectively
Figure 639876DEST_PATH_IMAGE026
Picture,
Figure 387252DEST_PATH_IMAGE027
It is infinity point
Figure 800916DEST_PATH_IMAGE023
Picture point, that is:
Figure 684559DEST_PATH_IMAGE017
,
Figure 643418DEST_PATH_IMAGE018
Hidden disappearing a little on direction,
Figure 346932DEST_PATH_IMAGE028
It is infinity point
Figure 564287DEST_PATH_IMAGE024
Picture point, that is:
Figure 302436DEST_PATH_IMAGE022
Hidden disappearing a little on direction.Because
Figure 199241DEST_PATH_IMAGE023
Be
Figure 655630DEST_PATH_IMAGE017
With
Figure 145517DEST_PATH_IMAGE018
Intersection point, so , the correspondence according to respective point in projective transformation has:
Figure 819261DEST_PATH_IMAGE030
, according to harmonic conjugates theory in projective geometry:
Figure 982520DEST_PATH_IMAGE031
, according to the cross ratio invariability in projective transformation,
Figure 541678DEST_PATH_IMAGE032
Thereby, solve
Figure 988840DEST_PATH_IMAGE028
Coordinate.In like manner, in another isosceles trapezoid In also can find one group of hidden disappearing a little of quadrature, be designated as
Figure 140652DEST_PATH_IMAGE034
,
Figure 487189DEST_PATH_IMAGE035
, computing formula is
Figure 54436DEST_PATH_IMAGE036
,
Figure 946169DEST_PATH_IMAGE037
.Two groups of hidden disappearing of quadrature of second two sides of sub-picture a little are designated as respectively:
Figure 2012105420062100002DEST_PATH_IMAGE061
With
Figure 2012105420062100002DEST_PATH_IMAGE062
, computing formula is respectively ,
Figure 2012105420062100002DEST_PATH_IMAGE064
Figure DEST_PATH_IMAGE065
,
Figure 2012105420062100002DEST_PATH_IMAGE066
.
Calculate two the hidden of width image side by above method and disappear a little, result of calculation is as follows respectively:
Hidden the disappearing a little of two groups of quadratures of the first width image two sides:
Figure DEST_PATH_IMAGE067
Figure 2012105420062100002DEST_PATH_IMAGE068
Figure DEST_PATH_IMAGE069
Figure 2012105420062100002DEST_PATH_IMAGE070
Hidden the disappearing a little of two groups of quadratures on the second sub-picture two sides:
Figure DEST_PATH_IMAGE071
Figure 2012105420062100002DEST_PATH_IMAGE072
Figure DEST_PATH_IMAGE073
Figure 2012105420062100002DEST_PATH_IMAGE074
(4) solve camera intrinsic parameter
Totally six groups of hidden coordinates that disappear a little of quadrature on the two width images that obtain through above step, can solve the camera intrinsic parameter matrix linearly
Figure 2012105420062100002DEST_PATH_IMAGE076
Five intrinsic parameters (unit: pixel) be respectively:
Figure DEST_PATH_IMAGE077
, ,
Figure DEST_PATH_IMAGE079
,
Figure 2012105420062100002DEST_PATH_IMAGE080
With
Figure DEST_PATH_IMAGE081
.

Claims (1)

1. one kind for solving the target of camera intrinsic parameter, it is characterized in that this target is any one positive pentagonal pyramid in space to be parallel to the bottom surface cutting obtain; Concrete step comprises:
(1) calculating positive five the hidden of terrace with edge upper bottom surface disappears a little
On a plane of world coordinate system, there are positive five terrace with edges, the upper and lower bottom surface of positive five terrace with edges is regular pentagons, the angle point of its upper bottom surface is
Figure 2012105420062100001DEST_PATH_IMAGE001
, the corresponding upper bottom surface of bottom surface
Figure 2012105420062100001DEST_PATH_IMAGE002
Angle point is
Figure 2012105420062100001DEST_PATH_IMAGE003
,
Figure 2012105420062100001DEST_PATH_IMAGE004
It is the center of circle of pentagon incircle;
Figure 2012105420062100001DEST_PATH_IMAGE005
It is line segment
Figure 2012105420062100001DEST_PATH_IMAGE006
Mid point, Perpendicular to ,
Figure 315803DEST_PATH_IMAGE007
Infinity point on direction is made as
Figure 892278DEST_PATH_IMAGE006
Infinity point on direction is made as . With
Figure 681953DEST_PATH_IMAGE009
Quadrature; In the projection of upper bottom surface,
Figure 2012105420062100001DEST_PATH_IMAGE010
Be respectively
Figure 2012105420062100001DEST_PATH_IMAGE011
Picture,
Figure 2012105420062100001DEST_PATH_IMAGE012
Be respectively
Figure 363470DEST_PATH_IMAGE008
,
Figure 912394DEST_PATH_IMAGE009
Picture, according to the character of 4 double ratios of conllinear, have:
Figure 2012105420062100001DEST_PATH_IMAGE013
, , the projective invariance according to corresponding point in projective transformation has:
Figure 2012105420062100001DEST_PATH_IMAGE015
,
Figure 2012105420062100001DEST_PATH_IMAGE016
Thereby can in the hope of
Figure 2012105420062100001DEST_PATH_IMAGE017
Coordinate;
(2) calculating positive five the hidden of terrace with edge side disappears a little
In a width picture of positive five terrace with edges, we at least can see its two isosceles trapezoids that side is two congruences,
Figure 2012105420062100001DEST_PATH_IMAGE018
Be parallel to
Figure 2012105420062100001DEST_PATH_IMAGE019
,
Figure 2012105420062100001DEST_PATH_IMAGE020
Be respectively
Figure 360562DEST_PATH_IMAGE018
With
Figure 560599DEST_PATH_IMAGE019
Mid point, and connect
Figure 2012105420062100001DEST_PATH_IMAGE021
,
Figure 2012105420062100001DEST_PATH_IMAGE022
Be
Figure 2012105420062100001DEST_PATH_IMAGE023
Mid point, establish
Figure 653496DEST_PATH_IMAGE018
,
Figure 938984DEST_PATH_IMAGE019
On infinite point be
Figure 2012105420062100001DEST_PATH_IMAGE024
,
Figure 472733DEST_PATH_IMAGE023
Infinite point on direction is
Figure 2012105420062100001DEST_PATH_IMAGE025
,
Figure 2012105420062100001DEST_PATH_IMAGE026
Be respectively
Figure 2012105420062100001DEST_PATH_IMAGE027
Picture,
Figure 2012105420062100001DEST_PATH_IMAGE028
It is infinite point
Figure 386331DEST_PATH_IMAGE024
Picture point, that is:
Figure 81755DEST_PATH_IMAGE018
,
Figure 854539DEST_PATH_IMAGE019
Hidden disappearing a little on direction, It is infinite point Picture point, that is:
Figure 851762DEST_PATH_IMAGE023
Hidden disappearing a little on direction; Because Be With
Figure 322561DEST_PATH_IMAGE019
Intersection point, so
Figure 2012105420062100001DEST_PATH_IMAGE030
, the projective invariance according to corresponding points in projective transformation has:
Figure 2012105420062100001DEST_PATH_IMAGE031
, according to harmonic conjugates theory in projective geometry:
Figure 2012105420062100001DEST_PATH_IMAGE032
, according to the cross ratio invariability in projective transformation,
Figure 2012105420062100001DEST_PATH_IMAGE033
Thereby, solve
Figure 462948DEST_PATH_IMAGE029
Coordinate; In another isosceles trapezoid
Figure 2012105420062100001DEST_PATH_IMAGE034
In also exist one group of hidden disappearing a little of quadrature, be designated as
Figure 2012105420062100001DEST_PATH_IMAGE035
,
Figure 2012105420062100001DEST_PATH_IMAGE036
, computing formula is
Figure 2012105420062100001DEST_PATH_IMAGE037
,
Figure 2012105420062100001DEST_PATH_IMAGE038
, can obtain
Figure 687125DEST_PATH_IMAGE035
,
Figure 168922DEST_PATH_IMAGE036
(3) solve camera intrinsic parameter
Utilization required hidden disappearing of six groups of quadratures in two width images a little can be listed six equations to the constraint of absolute conic, and linear solution goes out 5 intrinsic parameters, i.e. matrixes of video camera ,
Figure 2012105420062100001DEST_PATH_IMAGE040
For the distortion factor of image,
Figure 2012105420062100001DEST_PATH_IMAGE041
In image coordinate system
Figure 2012105420062100001DEST_PATH_IMAGE042
Axle
Figure 2012105420062100001DEST_PATH_IMAGE043
The scale factor of axle,
Figure 2012105420062100001DEST_PATH_IMAGE044
Being the principal point coordinate, is 5 intrinsic parameters of video camera.
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CN103983961A (en) * 2014-05-20 2014-08-13 南京理工大学 Three-dimensional calibration target for joint calibration of 3D laser radar and camera
GB2557633A (en) * 2016-12-14 2018-06-27 Fuel 3D Tech Limited Method of obtaining data characterizing 3D-imaging equipment
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CN110132132A (en) * 2018-12-11 2019-08-16 中国航空工业集团公司北京长城计量测试技术研究所 A kind of trapezoidal hexahedron standard of more bars
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CN110163922A (en) * 2019-05-22 2019-08-23 四川深瑞视科技有限公司 Fisheye camera calibration system, method, apparatus, electronic equipment and storage medium
US11380016B2 (en) 2019-05-22 2022-07-05 Sichuan Visensing Technology Co., Ltd. Fisheye camera calibration system, method and electronic device

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